Impact Characteristic Analysis of Hydraulically Actuated Quadruped Robots During Running

Abstract

When the quadruped robot run high-speed movement, Frequent or large impact force from the ground on the robot system cause significant damage to stability and reliability of the hydraulic system and robot itself. Through decomposition the high-speed running process, the touchdown, slippage, and stationary state dynamic model of robot mechanism are established. By analyzing the running state, the influence of the ground impact force on the structure of the body and the characteristic curve of the hip joint and knee joint movement are obtained. Through the establishment of impact dynamics equation, using the Matlab and Adams dynamic simulation software, carried out simulation experimental research on the impact force on the ground when the robot running. The results can provide a reliable basis and theory of control for the design of zero impact gait planning and high speed gait planning.